Design and control of the ball wheel drive mechanism for a robust Omnidirectional Wheeled Mobile Platform

被引：0
|
作者：
Lee, Young-Chul [1 ]
Lee, Danny V. [1 ]
Chung, Jae H. [2 ]
Bennett, Duane A. [1 ]
Velinsky, Steven A. [1 ]
机构：
[1] Univ Calif Davis, Dept Mech & Aeronaut Engn, Davis, CA 95616 USA
[2] Stevens Inst Technol, Dept Mech Engn, Hoboken, NJ USA
来源：
ROMANSY 16: ROBOT DESIGN, DYNAMICS , AND CONTROL | 2006年 / 487卷
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper discusses design and control of a new ball wheel drive mechanism for a robust omnidircctional wheeled mobile platform. This platform is designed for use in the highway maintenance and construction area, which is a generally an unstructured and congested environment. The proposed ball wheel mechanism can move in all directions on the plane, instantaneously and isotropically. Other novel features include: active regulation of traction drive contact pressure and an optimally controlled reconfigurable drive system.
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页码：387 / +
页数：2
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